EKF在SINS/GNSS深组合导航中的应用  

EKF Using in Deep Integrated Navigation System of SINS/GNSS

作　　者：连文浩 杨小龙 朱磊 程帅 LIAN Wen-hao YANG Xiao-long ZHU Lei CHENG Shuai(PLA, No. 63981 Troop, Hubei Wuhan 430311 , China)

机构地区：[1]中国人民解放军63981部队,湖北武汉430311

出　　处：《现代防御技术》2017年第5期53-62,共10页Modern Defence Technology

摘　　要：为了在卫星较少条件下也能提供连续稳定、精度高的导航,建立了一种基于扩展卡尔曼滤波器(extended Kalman filter,EKF)的捷联惯导系统(strapdown inertial navigation system,SINS)/全球导航卫星系统(global navigation satellite system,GNSS)深组合导航系统,并对该系统所采用的导航结构、状态估计算法等进行研究设计。最后,在战术级条件下,分别对单独的SINS,SINS/GNSS松组合导航系统和SINS/GNSS深组合导航系统进行仿真验证,并对导航结果进行对比分析。从仿真结果可以看出,深组合导航系统位置误差约为0.3 m,速度误差约为0.01 m/s,姿态误差约为0.005°。对比分析可知深组合导航精度更高,且不受卫星个数条件影响,具有很高的实用价值。A deep integrated navigation system of SINS/GNSS is established based on EKF to provide continuous and stable,high precision navigation on the condition of less satellites. At the same time,the navigation structure and state estimation algorithm of this system are studied. Finally,the navigation results of individual SINS,loose integrated navigation system of SINS/GNSS and deep integrated navigation system of SINS/GNSS are verified by simulation at tactical level. The simulation results show that the position error of deep integrated navigation system is about 0. 3 m,velocity error is about 0. 01 m/s,attitude angle error is about 0. 005°. It indicates that the precision of deep integrated navigation is higher,which is not affected by satellite condition,and has very high practical value.

关 键 词：SINS/GNSS深组合导航 扩展卡尔曼滤波 状态估计 导航精度 导航定位结果 战术级 

分 类 号：V249.322[航空宇航科学与技术—飞行器设计] TN967.1[电子电信—信号与信息处理]